EP2586573A2 - Robot system and method of manufacturing workpiece - Google Patents

Robot system and method of manufacturing workpiece Download PDF

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Publication number
EP2586573A2
EP2586573A2 EP12160106.6A EP12160106A EP2586573A2 EP 2586573 A2 EP2586573 A2 EP 2586573A2 EP 12160106 A EP12160106 A EP 12160106A EP 2586573 A2 EP2586573 A2 EP 2586573A2
Authority
EP
European Patent Office
Prior art keywords
workpiece
robot
circuit board
tape
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP12160106.6A
Other languages
German (de)
English (en)
French (fr)
Inventor
Takashi Shino
Keigo Ishibashi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Yaskawa Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp, Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Corp
Publication of EP2586573A2 publication Critical patent/EP2586573A2/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40238—Dual arm robot, one picks up one part from conveyor as other places other part in machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40543—Identification and location, position of components, objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45026—Circuit board, pcb
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the embodiment discussed herein is directed to a robot system and a method of manufacturing a workpiece.
  • Japanese Patent Application Laid-open No. 2008-009899 discloses an automatic teaching system for automatically teaching assembling work to an assembling work robot.
  • the automatic teaching system individually identifies various types of components randomly collected (hereinafter, referred to as workpieces) by using photographic images taken by a camera, for example, and compares them with correlate information of workpieces registered in advance so as to automatically generate a given procedure of assembling work per assembly.
  • One aspect of an embodiment aims to provide a robot system and a method of manufacturing a workpiece that enable an increase in throughput.
  • a robot system includes a robot and an instructing module.
  • the robot holds one of a plurality of feed materials used for processing a workpiece.
  • the instructing module gives an instruction to the robot, when the feed materials are used for processing the single workpiece, for an operation in which the feed material held last in a previous round of processing a workpiece is used first in a subsequent round of processing a workpiece.
  • an increase in throughput can be achieved.
  • FIG. 1 is a top view schematically illustrating an overall configuration of a robot system according to an embodiment
  • FIG. 2 is a front view schematically illustrating principal parts of the robot according to the embodiment
  • FIG. 3A is a front view schematically illustrating principal parts of a right hand unit and a left hand unit according to the embodiment
  • FIG. 3B is a perspective view schematically illustrating principal parts of the right hand unit and the left hand unit according to the embodiment
  • FIG. 4 is a schematic diagram illustrating an end part of the right hand unit
  • FIG. 5A is a schematic diagram illustrating a condition of a winding roller mechanism being removed from the left hand unit
  • FIG. 5B is a schematic diagram illustrating the winding roller mechanism
  • FIG. 6 is part one of schematic diagrams illustrating a series of operations in the robot system according to the embodiment.
  • FIGS. 7A and 7B are part two of the schematic diagrams illustrating the series of operations in the robot system according to the embodiment.
  • FIG. 8 is a block diagram illustrating an example of configuration of the robot system according to the embodiment.
  • FIG. 9A is a diagram illustrating an example of difference in type of circuit board
  • FIG. 9B is a table illustrating an example of teaching information by circuit board
  • FIG. 9C is a table illustrating an example of remaining tape information
  • FIG. 10 is a diagram illustrating an example of an instruction control sequence in the robot system according to the embodiment.
  • FIG. 11 is a flowchart illustrating processing procedure executed by the robot system according to the embodiment.
  • FIG. 12 is a flowchart illustrating processing procedure for unnecessary tape returning process indicated in FIG. 11 ;
  • FIG. 13 is a flowchart illustrating processing procedure for necessary tape fetching process indicated in FIG. 11 ;
  • FIG. 14 is a flowchart illustrating processing procedure for tape affixing process indicated in FIG. 11 .
  • the circuit board in the present robot system is a circuit board before being provided with electronic components. After the masking tapes are affixed at predetermined positions in the present robot system, solder is applied to the parts not masked in the subsequent process of soldering process.
  • the circuit board may be referred to as a workpiece.
  • FIG. 1 is a top view schematically illustrating an overall configuration of a robot system 100 according to the embodiment.
  • a three-dimensional orthogonal coordinate system including a Z-axis with a vertical upward direction as a positive direction is indicated.
  • Such an orthogonal coordinate system may be indicated in other drawings used in the following explanation.
  • a positive direction of an X-axis is defined to point the front of a robot 101 in the following.
  • the robot system 100 includes the robot 101, a stage 102, an unprocessed work cassette 103, a processed work cassette 104, a main stocker 105, a sub-stocker 107, and a camera 109 that are arranged at predetermined positions inside a partition wall 100A.
  • a gate 100B is provided, and a carry-in carry-out path 106 is arranged inside and outside of the partition wall 100A through the gate 100B.
  • a control device 108 is arranged and is connected to the robot 101 to communicate with the robot 101.
  • FIG. 2 is a front view schematically illustrating principal parts of the robot 101 according to the embodiment.
  • the robot 101 with a base 1 thereof is secured to a floor by anchor bolts not depicted and, on the base 1, a body 2 is provided to rotate with respect to the base 1 via an actuator not depicted.
  • a first arm 3L and a second arm 3R are provided, respectively.
  • a left shoulder unit 4L is provided to rotate along a vertical plane (see an X-Z plane in FIG. 2 ).
  • an upper left arm A unit 5L is further provided to swing.
  • an upper left arm B unit 6L is provided at the end of the upper left arm A unit 5L.
  • the upper left arm B unit 6L is given a twisting action to rotate.
  • a lower left arm unit 7L is provided to swing.
  • a left wrist A unit 8L is provided at the end of the lower left arm unit 7L, and at the end of the left wrist A unit 8L, a left wrist B unit 9L is provided.
  • a twisting action to rotate is given, and as for the left wrist B unit 9L, a rotating action that performs bending action is given.
  • a left flange 10L is provided, and at the left flange 10L, a left hand unit (hereinafter, may be described as a first hand mechanism) 12 is attached.
  • the second arm 3R is bilaterally symmetric with the first arm 3L, and the second arm 3R is configured with a right shoulder unit 4R, an upper right arm A unit 5R, an upper right arm B unit 6R, a lower right arm unit 7R, a right wrist A unit 8R, a right wrist B unit 9R, and a right flange 10R.
  • a right hand unit hereinafter, may be described as a second hand mechanism 11 is attached.
  • Each of the moving units such as the rotating units and the swinging units of the robot 101 has an actuator (not depicted) built-in having a servo motor.
  • the actuator further has an encoder built-in, and the encoder notifies the control device 108 of the rotational position of the respective moving units.
  • the right hand unit 11 and the left hand unit 12 may be described as hands 10 collectively in the following.
  • the stage 102 is disposed in front of the robot 101, and has a flat workbench where a workpiece is placed. At a corner portion of the workbench, a positioning wall 102A having a right angle is provided to stand thereon.
  • a moving member 102B that moves, by the drive of an actuator not depicted, to slide in a Y-axis direction (hereinafter, also referred to as a left-right direction) indicated by an arrow 202 in FIG. 1 .
  • a moving member 102C that moves to slide in the X-axis direction (hereinafter, also referred to as a front-back direction) indicated by an arrow 201 in FIG. 1 .
  • the unprocessed work cassette 103 is a storage case provided with a plurality of slots where stacks of unprocessed circuit boards are stored.
  • the processed work cassette 104 is a storage case provided with a plurality of slots where processed circuit boards are stored.
  • the unprocessed work cassette may be renamed as a first storage, and the processed work cassette may be renamed as a second storage. .
  • the unprocessed work cassette 103 is disposed near the first arm 3L including the left hand unit 12 (see FIG. 2 ).
  • the processed work cassette 104 is disposed near the second arm 3R including the right hand unit 11 (see FIG. 2 ).
  • this allows an unprocessed circuit board to be moved from the unprocessed work cassette 103 and placed on the stage 102 using the left hand unit 12, and then a processed circuit board to be moved from the stage 102 and placed on the processed work cassette 104 using the right hand unit 11. Accordingly, the robot 101 and the hands 10 can be efficiently operated, thereby allowing overhead to be reduced and throughput to be increased. Furthermore, it is not necessary to reserve working areas of the robot 101 and the hands 10 to be wide and thus, the reduction in working space can be achieved.
  • the operations of the robot 101 and the hands 10 are instructed by a later described instructing module 108ae of the control device 108 (see FIG. 8 ).
  • the instructing module 108ae will be described in detail with reference to FIG. 8 and the subsequent drawings.
  • the main stocker 105 is disposed in an area where the robot 101 can hold, for example, above the unprocessed work cassette 103.
  • the main stocker 105 further has a plurality of holders, and each of the holders can store one of a plurality of types of winding roller mechanisms 38 (described later).
  • a winding roller 36 (described later) having one of a plurality of types of masking tape in different width dimensions, materials, and such.
  • the sub-stocker 107 is disposed at a location closer to the robot 101 than the main stocker 105 (in the example in FIG. 1 , between the robot 101 and the stage 102).
  • the sub-stocker 107 further has a plurality of holders. Each of the holders stores therein the winding roller mechanism 38 that is necessary corresponding to the type of circuit board and taken out in priority from the main stocker 105 in advance. Storing the mechanism in the sub-stocker 107 allows the working areas of the robot 101 and the hands 10 to be made small in affixing work, whereby the overhead can be reduced.
  • the control device 108 is configured with a computer having a storage device, an arithmetic processing unit, an input device, and such (none depicted), and is connected to the robot 101 to intercommunicate with each other.
  • control device 108 On the control device 108, aspects of processing operation performed on a circuit board (more specifically, information of affixing which type of masking tape onto which location on the circuit board and such) are registered as teaching data in advance through the input device (for example, a programming pendant and the like).
  • the control device 108 then generates and outputs an operating signal that operates each of the moving units of the robot 101 based on the registered teaching data.
  • the detailed configuration of the control device 108 will be discussed later with reference to FIG. 8 .
  • control device 108 may be configured with a plurality of individual devices separately controlling the robot 101 and the hands 10, while the respective devices communicating with one another.
  • the camera 109 is an imaging device suspended above the robot 101 to take an image of a circuit board placed on the stage 102. While FIG. 1 illustrates a situation in which the camera 109 is disposed at the tip of the shoulder of the robot 101, it is not intended to restrict the disposed location of the camera 109. Furthermore, without suspending the camera 109, other installation method may be used.
  • FIG. 3A is a front view schematically illustrating the principal parts of the right hand unit 11 and the left hand unit 12 according to the embodiment
  • FIG. 3B is a perspective view schematically illustrating the principal parts of the right hand unit 11 and the left hand unit 12 according to the embodiment
  • FIG. 4 is a schematic diagram illustrating an end part of the right hand unit 11.
  • the right hand unit 11 includes a pressing mechanism 20, a second holding mechanism 21, an actuator 22, an unprocessed work holding mechanism 23, a processed work holding mechanism 24, and a bracket 25.
  • the bracket 25 is secured to the right flange 10R, and the pressing mechanism 20, the second holding mechanism 21, the actuator 22, the unprocessed work holding mechanism 23, and the processed work holding mechanism 24 are separately attached to the bracket 25.
  • the pressing mechanism 20 is configured with a pressing claw 20A and a base part 20C, and the base part 20C secured to the bracket 25 is provided extending in a direction approximately the same as the rotation axis of the right flange 10R.
  • the pressing claw 20A is arranged towards the extending direction of the base part 20C.
  • the pressing claw 20A is formed in a triangular prism shape with the tip thereof having an acute angle, and the base end thereof is secured to the base part 20C.
  • the base part 20C is formed of a hard material such as metal, and the pressing claw 20A is formed of a soft material such as resin.
  • a driven roller 20D is pivotally supported to slightly protrude on the side where the pressing claw 20A makes contact with a masking tape.
  • the driven roller 20D driven-rotates corresponding to changes in relative position with respect to a circuit board or a masking tape when the right hand unit 11 moves while pressing the masking tape onto the circuit board as described later.
  • the second holding mechanism 21 is provided in parallel with the base part 20C of the pressing mechanism 20, and is a forceps-like member formed with the leading end part thereof bent at an approximately right angle.
  • the second holding mechanism 21 is further connected to the actuator 22 at the base end part thereof, and is designed to hold a masking tape by nipping or to release it by the drive of the actuator 22 switching to hold or to release the hold, respectively.
  • the unprocessed work holding mechanism 23 has a plurality of suction members 23A (three pieces, here), and carries out holding a circuit board and releasing the hold by the suction members 23A sucking the top surface of the circuit board and releasing the suction, respectively.
  • the processed work holding mechanism 24 is a tabular member secured to the bracket 25, and is formed with an engaging part 24A having a bend at the end thereof. Meanwhile, a circuit board is provided with a hole formed, and operating the second arm 3R to make the engaging part 24A engage with the hole of the circuit board allows holding the processed circuit board.
  • the circuit board can be held without contacting the surface of the circuit board on which masking tapes are affixed, whereby the masking tapes affixed on the processed circuit board can be prevented from being stained and such.
  • FIG. 5A is a schematic diagram illustrating the condition of the winding roller mechanism 38 being removed from the left hand unit 12
  • FIG. 5B is a schematic diagram illustrating the winding roller mechanism 38.
  • the left hand unit 12 includes a first holding mechanism 31, a cutting mechanism 32, a bracket 35, a detaching mechanism 37, the winding roller mechanism 38, and a cassette holding unit 39.
  • the first holding mechanism 31 is provided parallel to a feed direction of a masking tape, and is a forceps-like member formed with the leading end part thereof bent at an approximately right angle.
  • the first holding mechanism 31 is further connected to an actuator (not depicted) at the base end part thereof, and is configured to hold a masking tape by nipping or to release it by the drive of the actuator switching to hold or to release the hold, respectively.
  • the cutting mechanism 32 is attached with a cutter blade 32A at the leading end thereof, and the cutting mechanism 32 slides up and down to make the cutter blade 32A enter to a masking tape at the downstream of the first holding mechanism 31 (on a feeding side of masking tape) to cut the masking tape.
  • the winding roller mechanism 38 is, as described above, a member to which a winding roller 36 is attached.
  • the winding roller mechanism 38 is a mechanism that feeds a masking tape from the winding roller 36 in a given feed direction.
  • the winding roller mechanism 38 is detachable with respect to the left hand unit 12 by the detaching mechanism 37.
  • the winding roller mechanism 38 includes the winding roller 36 attached to rotate, a guide roller 33, and a guide roller 34, and is provided to operate in conjunction with the above-described first holding mechanism 31.
  • the winding roller 36 is wound with a masking tape T on a core member, and the masking tape T rolled out from the winding roller 36 is guided towards the first holding mechanism 31 side while an appropriate tensile force being applied by the driven guide roller 33 and the guide roller 34.
  • the winding roller 36, the guide roller 33, and the guide roller 34 constitute a feed mechanism of the masking tape T.
  • the cassette holding unit 39 is a tabular member secured to the bracket 35, and has an engaging part 39A formed with a bend at the end part thereof.
  • FIG. 6 is part one of schematic diagrams illustrating a series of operations in the robot system 100 according to the embodiment.
  • FIGS. 7A and 7B are part two of the schematic diagrams illustrating the series of operations in the robot system 100 according to the embodiment.
  • the robot system 100 operates as follows in accordance with the teaching data registered in advance to the control device 108. First, before starting work, by a carrier device not depicted, the unprocessed work cassette 103 and the processed work cassette 104 are carried in to the gate 100B.
  • the robot system 100 disposes the unprocessed work cassette 103 and the processed work cassette 104 carried in to the predetermined locations indicated in FIG. 1 by holding them with the engaging part 24A (see FIG. 3B ) and the engaging part 39A (see FIG. 3A ).
  • the robot system 100 then drives the first arm 3L to take out a top most circuit board in the unprocessed work cassette 103 by pressing the suction members 23A (see FIG. 3A ), and place it on the stage 102 such that the processing surface of the circuit board faces upwards.
  • the robot system 100 then activates the moving member 102B and the moving member 102C (see FIG. 1 ) to press the circuit board against the positioning wall 102A (see FIG. 1 ) to complete the positioning operation of the circuit board on the stage 102.
  • the circuit board is imaged by the camera 109 (see FIG. 1 ), and the type of the circuit board is identified.
  • the first arm 3L is driven and the winding roller mechanism 38 necessary corresponding to the type of circuit board is taken out from the main stocker 105 (see FIG. 1 ) via the detaching mechanism 37 (see FIG. 5A ).
  • the winding roller mechanism 38 taken out is then stored in the sub-stocker 107 (see FIG. 1 ).
  • a plurality of winding roller mechanisms 38 necessary for the types can be stored in advance.
  • the winding roller mechanism 38 necessary corresponding to the type of circuit board may be described as a necessary tape.
  • the robot system 100 then makes the first arm 3L and the second arm 3R wait at their preset waiting positions in a given waiting posture.
  • the waiting positions are set at positions where the right hand unit 11 and the left hand unit 12 do not interfere with each other, for example, the positions where the right hand unit 11 is offset from the left hand unit 12 on the positive direction side of the X-axis (see FIG. 3B ).
  • the robot system 100 then operates the second arm 3R, as illustrated in FIG. 6 , to make the second holding mechanism 21 in an opened state enter between the first holding mechanism 31 and the guide roller 33, and thereafter, makes the second holding mechanism 21 close to nip a masking tape T to hold the masking tape T.
  • the robot system 100 then opens the first holding mechanism 31 to release the hold of the masking tape T by the first holding mechanism 31. Then, while the position of the first arm 3L is maintained, the robot system 100 makes the second arm 3R move towards the leading end side of the masking tape T to roll out the masking tape T for a predetermined length.
  • the leading end part of the second holding mechanism 21 passes through the holding unit of the first holding mechanism 31 being opened without making contact.
  • the predetermined length of the masking tape T rolled out is based on the teaching data registered in advance. The detail of this point will be described later with reference to FIGS. 9A and 9B .
  • the masking tape T When the masking tape T is rolled out for the predetermined length, the masking tape T is held by the first holding mechanism 31 again while the hold of the masking tape T by the second holding mechanism 21 is released.
  • the robot system 100 makes the first arm 3L move to a predetermined masking start position. As illustrated in FIG. 7A , the robot system 100 then operates the second arm 3R to press the adhesive side of the leading end portion of the masking tape T rolled out onto the circuit board with the pressing claw 20A.
  • the predetermined masking start position is also based on the teaching data preset.
  • the robot system 100 When the pressing operation of the masking tape T is completed, the robot system 100 then, as illustrated in FIG. 7A , makes both the first arm 3L and the second arm 3R move in the left-right direction for a preset length.
  • the masking tape T is rolled out from the winding roller 36.
  • the masking tape T rolled out is then pressed onto the circuit board by the pressing claw 20A and the driven roller 20D along with the movement of the second arm 3R.
  • the masking tape T is affixed onto the circuit board while a constant tensile force is applied, whereby the occurrence of wrinkles and such of the masking tape T can be effectively prevented.
  • the robot system 100 When the movement of the first arm 3L and the second arm 3R is completed, the robot system 100 then makes the first holding mechanism 31 close and makes the cutting mechanism 32 cut the masking tape T. The robot system 100 then makes the first arm 3L retract in the left-right direction, for example, in a direction indicated by an arrow 203 in FIG. 7A .
  • the robot system 100 then makes the second arm 3R move in the left-right direction for a preset length, as indicated by an arrow 204 in FIG. 7B , to press the masking tape T onto the circuit board up to the cut end portion of the masking tape T.
  • the robot system 100 makes the second arm 3R move at least to the above-described masking start position while a given pressing force is applied to the masking tape T by the pressing claw 20A so as to sufficiently fix the masking tape T to the circuit board.
  • the robot system 100 When the affixing of the masking tape T is completed, the robot system 100 then makes the first arm 3L and the second arm 3R move to the above-described waiting positions. When the replacement of the winding roller mechanism 38 is necessary, an exchanging operation of changing the winding roller mechanism 38 into a winding roller mechanism 38 corresponding to another necessary tape stored in the sub-stocker 107 is carried out. The affixing of the masking tape T is then carried out at the masking position preset for the exchanged winding roller mechanism 38.
  • the robot system 100 When affixing to all masking positions of the circuit board is completed, the robot system 100 then gives instructions to drive the second arm 3R to make the engaging part 24A (see FIG. 3B ) engage with the hole of the processed circuit board, and to transfer the processed circuit board to an empty slot of the processed work cassette 104 to store it. Subsequently, the work of taking out a new unprocessed circuit board from the unprocessed work cassette 103 and affixing the masking tapes T is repeated until all unprocessed circuit boards are processed.
  • the affixing work is not always carried out in a given sequence, but the instruction control is carried out to affix the masking tape T from the winding roller mechanism 38 currently attached to the left hand unit 12. This point will be explained with reference to FIGS. 8 to 14 .
  • the winding roller mechanism 38 attached to the left hand unit 12 may be described as a holding tape for the meaning of currently holding it.
  • FIG. 8 is a block diagram illustrating an example of configuration of the robot system 100 according to the embodiment.
  • FIG. 8 only the constituent elements necessary for explaining the instruction control of the robot system 100 are illustrated, and the description for general constituent elements is omitted.
  • the robot system 100 includes the hands 10, the robot 101, the sub-stocker 107, the control device 108, and the camera 109.
  • the description of the other constituent elements illustrated in FIG. 1 is omitted here.
  • the control device 108 includes a control module 108a and a storage module 108b.
  • the control module 108a further includes a circuit board identifying module 108aa, an affixing preparing module 108ab, a holding condition acquiring module 108ac, an instruction determining module 108ad, the instructing module 108ae, and a tape subtracting module 108af.
  • the storage module 108b stores therein circuit board identifying information 108ba, teaching information by circuit board 108bb, and remaining tape information 108bc.
  • the control module 108a carries out an overall control of the control device 108.
  • the circuit board identifying module 108aa receives image data of a circuit board from the camera 109 and matches the image data received to the circuit board identifying information 108ba to identify the type of circuit board that is a workpiece.
  • the circuit board identifying information 108ba is the information for identifying the type of circuit board such as the shape of circuit board, the positions and number of holes of the circuit board, and the like.
  • the circuit board identifying information 108ba is stored in the storage module 108b in advance.
  • the circuit board identifying module 108aa further notifies the affixing preparing module 108ab of the type of circuit board identified.
  • the affixing preparing module 108ab carries out affixing preparation work based on the type of circuit board notified and the teaching information by circuit board 108bb. More specifically, the affixing preparing module 108ab notifies the later discussed instructing module 108ae of instructions to take out necessary tapes corresponding to the type of circuit board from the main stocker 105 (see FIG. 1 ) and store them in the sub-stocker 107. At this time, when there is an unnecessary tape that is not necessary with respect to a necessary tape, the affixing preparing module 108ab notifies of instructions to return the unnecessary tape to the main stocker 105 in addition.
  • circuit board 108bb In the teaching information by circuit board 108bb, types of necessary tapes corresponding to the type of circuit board are defined. The detail of the teaching information by circuit board 108bb will be described later with reference to FIG. 9B .
  • the affixing preparing module 108ab further notifies the holding condition acquiring module 108ac of a completion notice after the affixing preparation work is completed.
  • the completion notice may include the presence of holding tape, the type of holding tape when the holding tape is present, a storage condition of necessary tapes in the sub-stocker 107, and such.
  • the holding condition acquiring module 108ac acquires the condition concerning a holding tape such as the presence of holding tape from the hands 10 and the condition concerning the sub-stocker 107 such as a storage condition of necessary tapes from the sub-stocker 107, and notifies the instruction determining module 108ad. While the acquiring of such holding condition can be realized by mounting respective detecting devices such as a pressure sensor to the hands 10 and the sub-stocker 107, it is not intended to restrict the method.
  • the instruction determining module 108ad determines instructions for the robot 101 and the hands 10 concerning affixing of the masking tape T based on the notice indicative of the holding condition received from the holding condition acquiring module 108ac, the teaching information by circuit board 108bb, and the remaining tape information 108bc. The instruction determining module 108ad then notifies the instructing module 108ae of the instructions determined.
  • FIG. 9A is a diagram illustrating an example of difference in type of circuit board
  • FIG. 9B is a table illustrating an example of the teaching information by circuit board 108bb
  • FIG. 9C is a table illustrating an example of the remaining tape information 108bc.
  • FIG. 10 is a diagram illustrating an example of an instruction control sequence in the robot system 100 according to the embodiment.
  • FIG. 9A it is assumed that there are a circuit board a and a circuit board ⁇ of different types. On the circuit board ⁇ , it is assumed that there are five points a to e for affixing the masking tape T (hereinafter, described as teaching points). Similarly, on the circuit board ⁇ , it is assumed that there are three teaching points f to h.
  • circuit board identifying information 108ba defined is identifying information such as the circuit board ⁇ having no cutout at a corner thereof and the circuit board ⁇ having a cutout at a corner thereof.
  • the teaching information by circuit board 108bb the information concerning teaching by type of circuit board is defined.
  • the example here indicates that the teaching information by circuit board 108bb includes type of necessary tape by type of circuit board, and a teaching data set by the type of necessary tape.
  • a tape A and a tape B are defined as the type of necessary tape.
  • a teaching data set that teaches the affixing using the tape A in a sequence starting from a teaching point a, going through a teaching point b, and then reaching a teaching point c is defined.
  • the teaching data set includes not only the sequence of affixing but also positions, predetermined lengths, directions of affixing, and such of the respective teaching points.
  • a teaching data set that teaches the affixing using the tape B in a sequence from a teaching point d to a teaching point e is defined.
  • circuit board ⁇ Similar definitions can be applied to the circuit board ⁇ .
  • the circuit board ⁇ requires two types of tapes of the tape A and a tape C as necessary tapes.
  • a teaching data set in a sequence from a teaching point f to a teaching point g is defined for the tape A, while a teaching data set with only a teaching point h is defined for the tape C.
  • FIG. 9B is not intended to restrict the configuration of the teaching information by circuit board 108bb.
  • a configuration similar to that of the teaching information by circuit board 108bb may be arranged.
  • the teaching data set indicated in FIG. 9B is given a symbol by the rule of "circuit board type + tape type". Accordingly, for example, the teaching data set for the tape A for the circuit board ⁇ indicated in FIG. 9B is given a symbol of ⁇ A.
  • FIG. 9C illustrates an example of the remaining tape information 108bc including "tape type", "retaining amount”, and “threshold” associated with one another for each "stocker holder No.” indicative of an identifier for a holder of the main stocker 105. While the remaining amount and the threshold are indicated in units of millimeters (mm) here, it is not restricted to this.
  • the remaining amount of the remaining tape information 108bc is updated as appropriate by the later described tape subtracting module 108af.
  • the threshold is a lower limit threshold of the remaining amount, and the tape with its remaining amount lower than threshold is replaced with that of the same type with more remaining amount in the main stocker 105.
  • FIG. 10 a sequence with the circuit board ⁇ as a workpiece is illustrated.
  • the robot system 100 first makes the hands 10 hold a predetermined necessary tape for the first circuit board ⁇ as a holding tape. At this time, when there is a holding tape in the hands 10 already due to work in the previous process and such and when the holding tape is a necessary tape for the circuit board ⁇ , the robot system 100 makes the hands 10 continuously hold the holding tape. It is assumed that the tape A is used as the first holding tape here.
  • the instruction determining module 108ad first determines the teaching data set ⁇ A as instructions based on the teaching information by circuit board 108bb, and notifies the instructing module 108ae to make the instructing module 108ae execute the instructions.
  • the instruction determining module 108ad notifies the instructing module 108ae of instructions to exchange the holding tape with the tape B to make the instructing module 108ae execute the exchange.
  • the instruction determining module 108ad subsequently determines a teaching data set ⁇ B as instructions and then makes the instructing module 108ae execute the instructions.
  • the hands 10 are holding the tape B as a holding tape. Accordingly, the instruction determining module 108ad first determines the teaching data set ⁇ B as instructions for the second circuit board ⁇ , and notifies the instructing module 108ae to make the instructing module 108ae execute the instructions. After the execution of the teaching data set ⁇ B is completed, the instruction determining module 108ad makes the instructing module 108ae exchange the holding tape with the tape A and execute the teaching data set ⁇ A.
  • the instruction determining module 108ad determines instructions for the robot 101 and the hands 10 while switching instructions corresponding to the type of holding tape, and the instructing module 108ae activates the robot 101 and the hands 10 based on the instructions.
  • the robot system 100 carries out, when a plurality of masking tapes are used for processing a single circuit board, the instruction control that gives instructions to the robot 101 and the hands 10 for an operation in which the masking tape held last in the previous round of processing a circuit board is used first in the subsequent round of processing a circuit board.
  • Carrying out such instruction control allows, in the example illustrated in FIG. 10 , for example, the exchange timing exT of holding tapes to be once per one circuit board ⁇ .
  • the number of exchange timings exT can be reduced. Consequently, the overhead by the operations of the robot 101 and the hands 10 required for exchanging holding tapes can be reduced, whereby the throughput can be increased.
  • the embodiment is obviously applicable even when tapes are of three types or more.
  • the instruction determining module 108ad may determine the subsequent teaching data set to be instructed based on the type of holding tape and on/off statuses of the executed flags.
  • the instructing module 108ae of the control device 108 will be described. While it is mentioned in the explanation with reference to FIG. 10 , the instructing module 108ae actually activates the robot 101 and the hands 10 based on the instructions concerning affixing the masking tape T determined by the instruction determining module 108ad. The instructing module 108ae further notifies the tape subtracting module 108af of the actual affixed amount of the masking tape T.
  • the tape subtracting module 108af subtracts the amount of masking tape T notified from the instructing module 108ae from the remaining amount of the corresponding remaining tape information 108bc, and updates the remaining amount of the remaining tape information 108bc. Accordingly, because it calculates the remaining amount, the tape subtracting module may be renamed as a remaining amount calculating module.
  • the storage module 108b is a storage device such as a hard disk drive and a non-volatile memory, and stores therein the circuit board identifying information 108ba, the teaching information by circuit board 108bb, and the remaining tape information 108bc.
  • the contents of the circuit board identifying information 108ba, the teaching information by circuit board 108bb, and the remaining tape information 108bc have been explained already and thus, their explanations are omitted here.
  • the respective constituent elements illustrated in FIG. 8 may not be arranged in the single body of control device 108.
  • any of or all of the circuit board identifying information 108ba, the teaching information by circuit board 108bb, and the remaining tape information 108bc that are stored in the storage module 108b may be stored in an internal memory of the robot 101 to achieve an increase in throughput and a reduction of overhead.
  • FIG. 11 is a flowchart illustrating processing procedure executed by the robot system 100 according to the embodiment.
  • the following flowchart illustrates the processing procedure for one type of circuit board.
  • the circuit board identifying module 108aa identifies the type of circuit board that is a workpiece based on image data of the camera 1.09 and the circuit board identifying information 108ba (Step S101).
  • the affixing preparing module 108ab then executes an unnecessary tape returning process (Step S102) and a necessary tape fetching process (Step S103) based on the type of circuit board.
  • the unnecessary tape returning process and the necessary tape fetching process are the affixing preparation process carried out for each type of circuit board.
  • the unnecessary tape returning process will be described later with reference to FIG. 12
  • the necessary tape fetching process will be described later with reference to FIG. 13 .
  • the holding condition acquiring module 108ac then acquires a holding condition from the hands 10 and the sub-stocker 107 (Step S104). Based on the holding condition acquired, the instruction determining module 108ad, the instructing module 108ae, and the tape subtracting module 108af execute tape affixing process (Step S105). The processing procedure of the tape affixing process will be described later with reference to FIG. 14 .
  • Step S106 it is determined whether there is an unprocessed circuit board for one type of circuit board (Step S106), and when there is an unprocessed circuit board (True at Step S106), the processes at Step S104 and the subsequent steps are repeated. When there is no unprocessed circuit board (False at Step S106), the process is finished.
  • FIG. 12 is a flowchart illustrating the processing procedure of the unnecessary tape returning process indicated in FIG. 11 .
  • sub-stocker M means the M-th holder of the sub-stocker 107.
  • the affixing preparing module 108ab determines whether the current holding tape is unnecessary (Step S201). When the judgment condition at Step S210 is satisfied (True at Step S201), the affixing preparing module 108ab sets the holding tape to be returned (Step S202). When the judgment condition at Step S201 is not satisfied (False at Step S201), the affixing preparing module 108ab moves the control to Step S203.
  • the affixing preparing module 108ab then sets the variable M to an initial value of 1 (Step S203), and determines whether a tape in the sub-stocker M is unnecessary (Step S204). When the judgment condition at Step S204 is satisfied (True at Step S204), the affixing preparing module 108ab determines whether there is no holding tape (Step S205). When the judgment condition is not satisfied (False at Step S204), the affixing preparing module 108ab moves the control to Step S210.
  • Step S205 When the judgment condition at Step S205 is satisfied (True at Step S205), the affixing preparing module 108ab then moves the control to Step S206. When the judgment condition is not satisfied (False at Step S205), the affixing preparing module 108ab determines whether there is any empty holder of the sub-stocker 107 available (Step 5207).
  • the affixing preparing module 108ab sets the holding tape to be stored in an empty holder of the sub-stocker 107 (Step S208).
  • the judgment condition at Step S207 is not satisfied (False at Step S207)
  • the affixing preparing module 108ab sets the holding tape to be returned to the main stocker 105 (Step S209).
  • the affixing preparing module 108ab then sets the tape in the sub-stocker M to be returned to the main stocker 105 (Step S206).
  • the affixing preparing module 108ab adds 1 to the variable M (Step S210), and determines whether the variable M exceeds the number of holders of the sub-stocker 107 (Step S211).
  • the judgment condition at Step S211 is satisfied (True at Step S211)
  • the affixing preparing module 108ab finishes the process.
  • the judgment condition at Step S211 is not satisfied (False at Step S211)
  • the affixing preparing module 108ab repeats the processes from Step S204.
  • FIG. 13 is a flowchart illustrating the processing procedure of the necessary tape fetching process indicated in FIG. 11 .
  • a variable N uniquely identifying a necessary tape that is required for one type of circuit board will be used.
  • the description of necessary tape N means the N-th necessary tape to be fetched.
  • the variable N is set to an initial value of 1 (Step S301), and it is determined whether there is not a necessary tape N on hand (Ste S302).
  • the on hand here means both the hands 10 and the sub-stocker 107.
  • Step S302 determines whether there is no holding tape (Step S303).
  • the judgment condition at Step S302 is not satisfied (False at Step S302), the affixing preparing module 108ab moves the control to Step S311.
  • Step S303 When the judgment condition at Step S303 is satisfied (True at Step S303), the affixing preparing module 108ab moves the control to Step S307. When the judgment condition at Step S303 is not satisfied (False at Step S303), the affixing preparing module 108ab determines whether there is any empty holder of the sub-stocker 107 available (Step S304).
  • Step S304 When the judgment condition at Step S304 is satisfied (True at Step S304), the affixing preparing module 108ab sets the holding tape to be stored in an empty holder of the sub-stocker 107 (Step S305). When the judgment condition at Step S304 is not satisfied (False at Step S304), the affixing preparing module 108ab raises an alarm and waits for a change in condition (Step S306), and then repeats the process from Step S304.
  • the affixing preparing module 108ab determines whether the necessary tape N is in the main stocker 105 (Step S307). When the judgment condition at Step S307 is satisfied (True at Step S307), the affixing preparing module 108ab sets the necessary tape N to be fetched from the main stocker 105 (Step S309). When the judgment condition at Step S307 is not satisfied (False at Step S307), the affixing preparing module 108ab raises an alarm and waits for a change in condition (Step S310), and repeats the process from Step S307.
  • the affixing preparing module 108ab adds 1 to the variable N (Step S311), and determines whether the variable N exceeds the number of necessary tapes (Step S312).
  • the judgment condition at Step S312 is satisfied (True at Step S312)
  • the affixing preparing module 108ab finishes the process.
  • the judgment condition at Step S312 is not satisfied (False at Step S312)
  • the affixing preparing module 108ab repeats the processes from Step S302.
  • FIG. 14 is a flowchart illustrating the processing procedure of the tape affixing process indicated in FIG. 11 .
  • the instruction determining module 108ad determines whether there is no holding tape based on the holding condition acquired by the holding condition acquiring module 108ac (Step S401). When the judgment condition at Step S401 is satisfied (True at Step S401), the instruction determining module 108ad sets a predetermined necessary tape to be held via the instructing module 108ae (Step S402). When the judgment condition at Step S401 is not satisfied (False at Step S401), the instruction determining module 108ad moves the control to Step S403.
  • the instruction determining module 108ad sets affixing of the holding tape to be performed via the instructing module 108ae (Step S403).
  • the tape subtracting module 108af subtracts the amount of tape affixed (i.e., the affixed amount) (Step S404) and updates the remaining tape information 108bc.
  • the instruction determining module 108ad determines, based on the remaining tape information 108bc, whether the remaining amount of the holding tape is a threshold or more (Step S405). When the judgment condition at Step S405 is satisfied (True at Step S405), the instruction determining module 108ad moves the control to Step S407. When the judgment condition at Step S405 is not satisfied (False at Step S405), the instruction determining module 108ad sets the holding tape to be returned via the instructing module 108ae (Step S406).
  • the instruction determining module 108ad determines whether there is another necessary tape different from the holding tape (Step S407). When the judgment condition at Step S407 is satisfied (True at Step S407), the instruction determining module 108ad sets the holding tape to be exchanged via the instructing module 108ae (Step S408), and repeats the processes from Step S403. When the judgment condition at Step S407 is not satisfied (False at Step S407), the instruction determining module 108ad finishes the process.
  • the robot system includes a robot and an instructing module.
  • the robot holds one of a plurality of types of feed materials used for processing a workpiece.
  • the instructing module gives instructions to the robot, when a plurality of feed materials are used for processing a single workpiece, for an operation in which the feed material held last in the previous round of processing a workpiece is used first in the subsequent round of processing a workpiece.
  • the workpiece is a circuit board for an electronic device and the masking tapes that are the feed materials are affixed to predetermined positions of the circuit board is exemplified in the above-described embodiment, it is not intended to restrict the workpiece, the feed materials, the aspect of processing, and such.
  • the disclosed technology in the present application may be applied when performing a process of applying the adhesive on the wafer.
  • a so-called dual-arm robot is exemplified.
  • the disclosed technology in the present application may be applied when a single-arm robot performs a process to a workpiece while exchanging feed materials, or it may be applied to a robot including three arms or more.

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  • Mechanical Engineering (AREA)
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EP12160106.6A 2011-10-26 2012-03-19 Robot system and method of manufacturing workpiece Withdrawn EP2586573A2 (en)

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JP6329645B2 (ja) * 2014-12-26 2018-05-23 川崎重工業株式会社 ロボット
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JP2013091137A (ja) 2013-05-16
US8996154B2 (en) 2015-03-31

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